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https://github.com/sea-me-coss/autonomous-driving-system

Autonomous Driving with gazebo and piracer
https://github.com/sea-me-coss/autonomous-driving-system

autonomous-driving gazebo lidar qt ros2 yocto

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Autonomous Driving with gazebo and piracer

Host: GitHub
URL: https://github.com/sea-me-coss/autonomous-driving-system
Owner: SEA-ME-COSS
Created: 2024-05-30T18:14:34.000Z (7 months ago)
Default Branch: main
Last Pushed: 2024-06-28T10:51:22.000Z (6 months ago)
Last Synced: 2024-06-28T12:02:51.528Z (6 months ago)
Topics: autonomous-driving, gazebo, lidar, qt, ros2, yocto
Language: C++
Homepage:
Size: 53 MB
Stars: 0
Watchers: 0
Forks: 1
Open Issues: 0
Metadata Files:
- Readme: README.md

Awesome Lists containing this project

README

# **ADS Project**

---

# Result

https://github.com/SEA-ME-COSS/Autonomous-Driving-System/assets/138571365/e43ceb95-8b2b-4b29-8823-91352cc73292

# Introduction

This project involves an autonomous driving project using piracer.

We chose ROS2 as the middleware, and the basic structure consists of Perception, Localization, Path Planning, and Control.

To facilitate individual testing, we implemented the virtual environment in Gazebo and also conducted real vehicle tests.

Ultimately, we integrated with [In-Vehicle Infotainment](https://github.com/SEA-ME-COSS/In-Vehicle-Infotainment.git) to combine the autonomous driving system with the distributed embedded system.

We also provide OTA service so that users can update HeadUnit using MQTT.

# Architecture

Architecture_ADS

# Setting

## Requirements

### Simulator

You can test two versions. If you want to test ADS in the Simulator, first set up the [Simulation](https://github.com/SEA-ME-COSS/Autonomous-Driving-Simulation) environment.

After that, install dependencies.

- Eigen

```bash
sudo apt update
sudo apt install libeigen3-dev
```

- Ceres

```bash
sudo apt update
sudo apt install libeigen3-dev libgoogle-glog-dev libgflags-dev
sudo apt install libceres-dev
```

- ompl

```bash
sudo apt install libompl-dev
```

- ros msg apt install

```bash
sudo apt update
sudo apt install ros-foxy-rclcpp
sudo apt install ros-foxy-nav-msgs
sudo apt install ros-foxy-geometry-msgs
sudo apt install ros-foxy-tf2
sudo apt install ros-foxy-tf2-geometry-msgs
sudo apt install ros-foxy-example-interfaces
sudo apt install ros-foxy-std-msgs
sudo apt install ros-foxy-vision-msgs
sudo apt install ros-foxy-sensor-msgs
```

### Real-World

For more detailed information, refer to the following pages.

- [ECU-Core](https://github.com/SEA-ME-COSS/ECU-Core.git)
- [ECU-Control](https://github.com/SEA-ME-COSS/ECU-Control.git)
- [ECU-HeadUnit](https://github.com/SEA-ME-COSS/ECU-HeadUnit.git)
- [Yocto_meta-sdv](https://github.com/SEA-ME-COSS/meta-sdv/tree/main)
- [Localization](https://github.com/SEA-ME-COSS/Localization.git)
- [Perception](https://github.com/SEA-ME-COSS/Perception.git)
- [PathPlanning](https://github.com/SEA-ME-COSS/PathPlanning.git)
- [Control](https://github.com/SEA-ME-COSS/Control.git)
- [OTA](https://github.com/SEA-ME-COSS/OTA_Application)

# Usage

To run in the Gazebo Simulator, launch the simulator as described in [Autonomous-Driving-Simulation](https://github.com/SEA-ME-COSS/Autonomous-Driving-Simulation.git).

```bash
ros2 launch sim sim.launch.py
```

After building, run the launch file.

```bash
colcon build --symlink-install
source install/setup.bash
ros2 launch ads_launch simulation_ads.launch.py
```

> Real World Usage
>

# References

- Yocto Project. (2021). Yocto Project. https://www.yoctoproject.org/
- Qt Project. (2021). Qt Project. https://www.qt.io/
- Raspberry Pi Foundation. (2021). Raspberry Pi. https://www.raspberrypi.org/
- CAN specification documents: http://esd.cs.ucr.edu/webres/can20.pdf
- ROS2 foxy. https://docs.ros.org/en/foxy/index.html
- Gazebo. https://gazebosim.org/home
- Mosquitto MQTT. https://mosquitto.org/

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